慣性センサを用いた鉄道車両の位置推定

抄録

Railway operators regularly inspect track conditions and perform running tests in order for the vehicle to run safely and comfortably. It is desired to inspect track frequently to realize safer operation. However, it is difficult to conduct inspections and running tests frequently because of enormous cost. Recently, development of the measurement system using commercial vehicles with onboard sensors has been considered. In the development of the system, it is important to estimate the vehicle velocity and position precisely. Some methods to estimate velocity and position use a tachometer and a GPS. However, the error of the position is accumulated by the integration of the velocity. GPS is effective to reduce the error but it cannot be used in the subway. In this research, a method to estimate the position of the railway vehicle with only an inertial sensor and map is proposed. In this paper, a method to estimate a highly accurate position detection of the railway vehicle with estimated velocity with an inertial sensor while combining with the information of map which is officially provided by Technical Report of the Geospatial Information Authority of Japan. Since the proposed method and measurement system can be implemented on the commercial vehicle, large-scale data can be easily obtained. In order to make the most of such large-scale data, a method to adjust the position of several data along with running distance is also described in this paper.